00001 /* 00002 * Katana Native Interface - A C++ interface to the robot arm Katana. 00003 * Copyright (C) 2005 Neuronics AG 00004 * Check out the AUTHORS file for detailed contact information. 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 */ 00020 00021 00022 /****************************************************************************/ 00023 #ifndef _CPLBASE_H_ 00024 #define _CPLBASE_H_ 00025 /****************************************************************************/ 00026 #include "common/dllexport.h" 00027 #include "KNI/cdlBase.h" 00028 00029 /****************************************************************************/ 00030 00031 #if !defined (BYTE_DECLARED) 00032 #define BYTE_DECLARED 00033 typedef unsigned char byte; 00034 #endif 00035 00036 //--------------------------------------------------------------------------// 00037 00038 00047 class DLLDIR CCplBase { 00048 00049 protected: 00050 CCdlBase* device; 00051 short mMasterVersion; 00052 short mMasterRevision; 00053 00054 public: 00055 00061 virtual bool init(CCdlBase* _device, byte _kataddr = 24) = 0; 00062 00069 virtual void comm(const byte* pack, byte* buf, byte* size) = 0; 00070 00075 virtual ~CCplBase() {}; 00076 00081 virtual void getMasterFirmware(short* fw, short* rev) = 0; 00082 }; 00083 00084 /****************************************************************************/ 00085 #endif //_CPLBASE_H_ 00086 /****************************************************************************/